Dynamic Spot Location Control for Obstacle-Aware Material Movers

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Solution Overview

Problem

Autonomous and semi-autonomous material moving machines face challenges in navigating around obstacles on the path, which can disrupt material movement cycles and impact performance, as existing systems lack efficient methods to dynamically adjust the spot location in real-time based on obstacle presence and topography.

Innovation Solution

A system comprising a ground engaging drive mechanism, truck pose sensor, perception sensor, and controller that determines an initial spot location, identifies obstacles, and generates a propulsion command to move the material carrying machine to an alternate spot location if obstacles exceed a threshold, using perception signals to assess the environment and topography.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the material carrying machine follows the initial spot location, then the material movement cycle can proceed as planned, but the machine may collide with obstacles or get blocked by undesired material

Engineering Contradiction:

Improvematerial movement continuityVSAvoidnavigation complexity

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The spot location is made dynamic rather than fixed. The controller continuously monitors the environment using perception sensors and adjusts the spot location in real-time based on detected obstacles and topography changes, allowing the machine to adapt its navigation target without manual intervention

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system implements continuous feedback through perception sensors that detect obstacles and topography along the path. This feedback loop enables the controller to compare the current environment with the planned path and automatically modify the spot location when deviations are detected, ensuring reliable material movement

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If the operator manually adjusts the spot location to avoid obstacles, then the machine can navigate around obstacles, but the operation complexity increases and efficiency decreases

Engineering Contradiction:

Improveobstacle avoidance capabilityVSAvoidmaterial movement efficiency

Core Design Contradiction:

Adaptability or versatilityVSProductivity

Solution Approach 1:

The material carrying machine performs self-navigation by autonomously detecting obstacles and topography changes using its own perception sensors. The controller automatically recalculates the spot location and generates new propulsion commands without requiring external operator intervention, maintaining high productivity while adapting to environmental changes

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system replaces manual operator control with an automated control system that uses perception sensors and algorithms to detect obstacles and determine alternate spot locations. This substitution of mechanical/manual adjustment with sensor-based automated decision-making maintains efficiency while providing adaptability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Device complexity

If the machine uses a fixed spot location, then the control system is simple, but the machine cannot adapt to obstacles or topography changes in the path

Engineering Contradiction:

Improvecontrol system complexityVSAvoidenvironmental adaptability

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The controller is designed with multi-functionality, serving both as the primary control for following the initial spot location and as an autonomous system that detects obstacles, determines alternate spot locations, and generates modified propulsion commands. This universal controller handles both simple and complex scenarios without requiring separate systems

Inventive Principle:

Principle #6Universality (Multi-functionality)

4Reliability

If the machine dynamically adjusts spot location in real-time, then the machine can avoid obstacles and maintain material movement, but the control and navigation complexity increases

Engineering Contradiction:

Improvematerial movement continuityVSAvoidnavigation system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system merges the obstacle detection function, spot location determination function, and propulsion control function into a single integrated controller. By combining these functions that could operate as separate systems, the patent reduces overall navigation system complexity while maintaining the ability to dynamically adjust spot location for reliable material movement

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS11226627B2System for modifying a spot location

Publication Date: 2022.01.18 CATERPILLAR GLOBAL MINING LLC

AI summary

A system for moving material from a first location to a second location includes a planning system to identify an initial spot location. A perception sensor is configured to generate perception signals indicative of whether an obstacle is in the path between a material carrying machine and the initial spot location. An alternate spot location is determined if an obstacle is in the path and a propulsion command is generated to move the material carrying machine from the current pose to the alternate spot location.